Arrangement for controlling collaring drilling

ABSTRACT

An apparatus for controlling collaring drilling includes at least one collaring cycle executed in a control device. The collaring cycle has an advance drilling step, a reversing step and a monitoring feature. The apparatus is configured to repeat as many collaring cycles as needed for reaching a drilled material having predetermined properties. The disclosure also relates to a method for collaring drilling and a computer program product.

BACKGROUND OF THE INVENTION

The invention relates to an apparatus for controlling collaring drilling. The collaring drilling comprises initiating drilling of a drill hole. The collaring drilling is being followed by an actual drilling for drilling the drill hole to a final drilling depth. The apparatus comprises one or more control devices for controlling a drilling unit during the collaring drilling.

The invention further relates to a method for collaring drilling, and to a computer program product for executing the disclosed method and solution.

The field of the invention is defined more specifically in the independent claims.

In rock drilling drill holes are drilled to rock material or soil by means of rock drilling machines arranged to rock drilling rigs. The drill holes may be drilled in mines, quarries and construction work sites and the drill holes may be blast holes, reinforcing holes or drill holes having any other purpose. In a general procedure of drilling, at first a collaring operation is performed to position a drilling tool end to a drilling position and subsequently performing a collaring drilling, which is typically drilled using reduced drilling power in order to ensure that the drilling will begin at the positioned point and to prevent curving of the drill hole and other problems relating to quality of the drill hole. After the collaring drilling is finished, a regular drilling operation is performed. However, it has been noted that present solutions relating to collaring have some disadvantages.

BRIEF DESCRIPTION OF THE INVENTION

An object of the invention is to provide a novel and improved apparatus, method and software for initiating drilling by drilling collaring holes.

The apparatus according to the invention is characterized by the features disclosed in an independent apparatus claim.

The method according to the invention is characterized by the features disclosed in an independent method claim.

The computer program product according to the invention is characterized in that the computer program product comprises program code means configured to execute the steps and procedures disclosed in the independent claims when being run on a computer or a data processing device. The program product may be stored in a machine readable data storage device or memory medium.

An idea of the disclosed solution is that the apparatus comprises one or more control devices or control units for controlling a drilling unit during a collaring drilling. The control device is provided with one or more collaring cycles and means for executing the collaring cycle in a processor or corresponding device. The collaring cycle comprises an advance drilling step and a reversing step, which may be both repeated alternately several times until a predetermined situation ensuring trouble-free initiation and execution of the actual drilling is reached. Thus, the collaring cycle may be an automatic sequence which may accomplish all the needed procedures for initiating drilling of the drill hole. The collaring cycle is also provided with a defined advance rule. During the advance drilling step the apparatus controls the drilling unit to advance the drilling in a drilling direction from a realized depth of the drill hole further to a following next depth. Further, the collaring cycle further comprises one or more monitoring features for controlling the apparatus to receive measuring data from the drilling unit and to monitor characteristics of the rock, soil or other drilled material during the advance drilling. The reversing step is executed in response to the success of the defined advance rule. When the reversing step is executed, the apparatus terminates the advance drilling phase and moves the drilling tool in a reverse direction. Thus, in the disclosed collaring procedure or sequence several collaring cycles are being executed successively at least until a change in the monitored characteristics during the advance drilling is detected. Thereby, the number of the executed collaring cycles of the drill hole under examination is dependent on the characteristics of the drilled material. In other words, each of the advance drilling steps of the several collaring cycles has a limited advance distance or drilling duration, whereby the final bottom of the collaring hole is reached by execution of two or more limited advance drilling steps. According to the disclosed solution the collaring proceeds as sequences.

An advantage of the disclosed solution is that work of an operator of a drilling device may be facilitated and a less skilled operator is required for the collaring drilling when the disclosed system assisting work of the operator is utilized. The collaring process may be automated whereby productivity may be improved. Thanks to the control system and the monitoring feature operator based deviations in properties of the drill holes may be decreased and quality of the drilled holes may be improved. Further, since the disclosed solution comprises several collaring cycles executed successively, the system may respond to changes in the drilling situations quick and effectively.

According to an embodiment, the apparatus executing controlling of the collaring drilling and sequentially repeated phases and operations defined in the collaring cycle is located on a rock drilling rig. The rock drilling rig may comprise one or more control units provided with needed processing means for implementing the disclosed measures for placing drill holes to a drilling pattern and allowing amendments to the drilling pattern. The on-board control unit may comprise one or more display devices and one or more input means allowing interaction between an operator of the rock drilling rig and a computer program being executed in the processing means. By means of the input means measuring data from on-board and external measuring devices may be input to the system, as well as data elements comprising design or blasting data on the bench under operation.

According to an embodiment, the apparatus executing controlling of the collaring drilling and sequentially repeated phases and operations defined in the collaring cycle is located external to a rock drilling rig. One or more control devices, such as personal computers may be implemented for executing the disclosed measures. In this embodiment measurement and detection data may be transmitted to the external control device. Additionally, data on realized drill holes may be gathered during drilling and the gathered data may be transmitted to the external control device to be utilized therein.

According to an embodiment, the characteristic feature of the drilled material is hardness of the material. When the apparatus detects that the drilling tool has faced sufficiently hard material, the apparatus interprets this as a sign that the collaring may be terminated and the normal drilling initiated. The hardness may be determined by detecting increase in drilling resistance, which may be determined by utilizing several alternative sensing means and detection principles. Typically, the drilling position comprises a layer of loose soil and only at a distance from the surface of the ground is located a solid layer of rock. When this solid rock is faced, a clear increase in drilling resistance and hardness of the drilled material is being detected.

According to an embodiment, the characteristic feature of the drilled material is fracturing of the material. Measuring and sensing means of the apparatus may detect variation and pulsation in measuring results and may interpret that this means that drilling tool is currently penetrating into fractured or non-uniform rock material, which indicates that the collaring drilling should be continued until the measuring result will stabilize. When drilling into homogenous rock material, then rather even and stabilized sensing values are being received by the apparatus.

According to an embodiment, the characteristic feature of the drilled material is any other feature based on which a borderline between loose and solid layers may be determined.

According to an embodiment, the apparatus is configured to detect initial depth position of the collaring drilling corresponding an opening of the drill hole being drilled, and further detect greatest depth of the drill hole corresponding a bottom of the drill hole. The apparatus controls the drilling unit to reverse the drilling tool during the reversing step out of the drill hole. Thereby the reversing step defines the reversing movement from the bottom of the drill hole at least to the opening of the drill hole. When the drilling tool is pulled out of the drill hole, the drill hole is cleaned before the next advance drilling phase or before initiating the actual drilling.

According to an embodiment, the apparatus is configured to control the drilling unit to direct flushing flow through a drilling tool to the drill hole during the collaring cycle. The flushing flow may be water or pressurized air, for example. Alternatively, mixture or water and air may be fed using great pressure to the drill hole. The apparatus may be configured to increase magnitude of the flushing flow in response to increase of the drilling depth. Thus, the flushing flow is greater during every following collaring cycle compared to the previous collaring cycles. Thanks to this embodiment sufficient flushing is ensured also when the circumstances require use of greater collaring depths.

According to an embodiment, the apparatus is configured to terminate the flushing flow during the reversing step of the collaring cycle at a distance from the opening of the drill hole. A predefined threshold depth may be input to the control device of the apparatus. Thus, the flushing flow is terminated before a drilling tool is pulled out of the drill hole. Thanks to this embodiment, collapsing of the mouth of the drill hole may be prevented. If a full power flushing is directed to walls of the drill hole at the mouth portion of the drill hole, the walls will easily collapse.

According to an embodiment, the apparatus is configured to control the drilling unit to direct liquid flow through a drilling tool to the drill hole during the reversing step of the collaring cycle. The feeding of flushing liquid may bind dust and other rock material on the walls of the drill hole and may thereby prevent collapsing of upper end portion of the drill hole. Thus, the bound walls allow feeding of charges and reinforcements into the drilled hole without problems.

According to an embodiment, the apparatus is configured to delay the execution of the succeeding collaring cycles. This means that execution of the following collaring cycle is being delayed when the previous collaring cycle is finished. Thanks to the delay, possible loose material of walls of the drill hole may collapse and drop towards the bottom of the drill hole. The following drilling cycle will clean the drill hole suitable for insertion of charges or reinforcements, for example. The disclosed system and process allows the drilled hole to be stabilized between the collaring cycles whereby improved drilling quality and fluent drilling process is achieved.

According to an embodiment, the apparatus is configured to delay the execution of the succeeding collaring cycles for duration of a determined delay time. The delay time may be a pre-set parameter or it may be adjusted by the operator.

According to an embodiment, the apparatus is configured to receive measuring data from the drilling unit, the measuring data indicating collapsed rock material between a rear end of a drill bit and an opening of the drill hole. The apparatus takes the measuring results into account and is configured to delay the execution of the succeeding collaring cycles until the apparatus detects the collapsed rock material in the drill hole. The measuring data may comprise data produced by one or more cameras, scanners, acoustic sensors, vibration sensors, force sensors, or any other suitable type of sensors or measuring devices. In this embodiment, need for the delay is determined on the basis of measuring or detection results.

According to an embodiment, the apparatus is provided with reference data defining at least one limit value for determining difference in hardness of loose drilled material and solid drilled material. The one or more predetermined limit values may be fed to the control device or unit of the apparatus or the limit value may be gathered from a server, for example. The apparatus controls collaring drilling through a loose material layer towards a solid material layer. Further, the apparatus detects a change in drilling characteristics by means of the comparison of the measuring data and the limit value when reaching the solid material layer during the advance drilling. The apparatus may determine depth position of the solid material layer on the basis of the detected change in drilling characteristics at a borderline between the loose material layer and the solid material layer.

According to an embodiment, the apparatus is provided with at least one rule for determining relative difference limit in hardness of loose drilled material and solid drilled material. The rule and the relative difference limit may be fed to the control device or unit of the apparatus. The apparatus controls collaring drilling through a loose material layer towards a solid material layer. When the apparatus detects a change in drilling characteristics being greater than the relative difference limit, then the apparatus interprets that the tool has reached the solid material layer during the advance drilling. The apparatus may determine depth position of the solid material layer on the basis of the detected change in drilling characteristics at a borderline between the loose material layer and the solid material layer. The relative difference limit may be set to define how many percentages the drilling resistance has to increase in order to cause triggering of the solid layer. When the collaring drilling is initiated, the drilling resistance of the loose material is recorded and this value and its linear or substantially linear trend of change are used as a reference value in the monitoring. When the drilling resistance increases very rapidly and exceeds the relative difference limit of the rule, then the apparatus may terminate the collaring drilling and switch into the normal drilling.

According to an embodiment, the apparatus is provided with data on depth of solid material layer of at least one drill hole being located at proximity of the drill hole under examination. The apparatus determines depth of solid material layer of the drill hole under examination on the basis of the determined characteristics of the material. In order to improve accuracy of the determination of the depth position of the solid material layer, the apparatus compares the determined depth of the solid material layer of the drill hole under examination to the depth of the solid material of the at least one neighboring drill hole. This way erroneous interpretations and measurements may be detected.

According to an embodiment, the apparatus is provided with data on thickness of the loose material layer. Based on the data on thickness the apparatus is configured to estimate depth position of a borderline between the loose and solid material layer. The apparatus may compare the determined depth position to the estimate depth position in order to improve accuracy of the determination of the depth position of the solid material layer.

According to an embodiment, the apparatus is provided with data on feed resistance of the feed device of the drilling unit during advance drilling of the collaring cycle. The apparatus may compare the received data to at least one limit value for the feed resistance for detecting hardness of the drilled material.

According to an embodiment, the feed resistance is determined by sensing pressure of a pressure medium operated feed device. Alternatively, the feed device or the feed system may be provided with one or more force or strain sensors or other suitable force measuring devices.

According to an embodiment, the apparatus is provided with pressure data on the pressure fluid operated feed device of the drilling unit. The limit value may comprise a threshold pressure, whereby exceed of the threshold pressure indicates change in characteristics of the drilled material.

According to an embodiment, the apparatus is provided with data on stress waves propagating in a drilling tool of the drilling unit in order to determine properties of the drilled material. The drilling unit is provided with an impact device for generating stress waves to the drilling tool. During use the stress waves reflect back from the drilled material towards the rock drilling unit in accordance with the hardness of the drilled material. The apparatus is configured to compare the received or determined data with at least one limit value for the magnitude of the reflecting stress waves for detecting characteristics of the drilled material. Based on this embodiment harness and fracturing of the drilled material may be determined and the information may be used for deciding whether to continue sequences of the collaring drilling or initiating the normal drilling phase.

According to an embodiment, the apparatus is provided with sensed acoustic data on drilling in order to determine characteristics of the drilled material. The apparatus is configured to compare the sensed acoustic data with at least one limit value for the magnitude or sound of the drilling noise for detecting hardness, fracturing and possible other features of the drilled material. The drilling unit may be provided with one or more acoustic sensors and the sensed data of the sensors may be transmitted to the apparatus.

According to an embodiment, the apparatus is provided with sensed vibration data on drilling in order to determine characteristics of the drilled material. The apparatus is configured to compare the sensed vibration data with at least one limit value for the magnitude or frequency of the drilling vibrations for detecting hardness, fracturing and possible other features of the drilled material. The drilling unit may be provided with one or more vibration sensors or acceleration transducers and the sensed data of the sensors may be transmitted to the apparatus.

According to an embodiment, the apparatus is provided with data on composition and particle size of the produced drilling cuttings in order to determine characteristics of the drilled material. The apparatus is configured to compare the sensed data with at least one limit value for the particle size for detecting hardness, fracturing and possible other features of the drilled material of the drilled material. The monitoring data may be produced by means of one or more X-ray analyzers, cameras or scanners, for example. The monitoring means may be arranged to the drilling unit, or in connection with a dust removal system of the rock drilling rig, for example.

According to an embodiment, the apparatus is provided with data on pressure in a pressure medium system of the drilling unit in order to determine characteristics of the drilled material. The apparatus is configured to analyze the detected pressure data for detecting hardness, fracturing and possible other features of the drilled material. The monitoring data may be pressure pulsation and the apparatus may compare the data with at least one limit value determined for the pressure pulsation, for example. The monitoring data may be produced by means of one or more pressure sensors or measuring devices, for example. The monitoring means may be arranged to the drilling unit.

According to an embodiment, the apparatus is configured to control the drilling unit to execute transfer drilling of the drilling tool from a reversed drill hole depth position to the realized drill hole bottom reached in the previous collaring cycle before initiating advance drilling of the following collaring cycle. The apparatus connects the rock drilling machine on during the transfer drilling. When the drilling machine is on during the transfer drilling, feed resistance may be decreased and also jamming of the drilling tool may be prevented. Further, the drilling machine executes effective cleaning of the drilling hole during the transfer drilling.

According to an embodiment, the advance rule of the collaring cycle defines an advance distance. Then the apparatus is configured to control the drilling unit to advance the drilling of the drill hole in the drilling direction further for the length of the defined advance distance. This advance distance is kept the same in all sequences of the advance drilling and is repeated thereby several times. The final drill hole bottom reached by the collaring drilling is thus a multiple of the advance distances. In other words, the predetermined limited advance distance is always shorter than over all depth of the drilled collaring hole. Thus, several advance drilling steps and advance drilling distances are required for reaching the bottom of the final collaring hole. Since the collaring hole depth is greater than the advance distance, the bottom of the final collaring hole cannot be reached by executing one continuous drilling step. The advance distance can be measured during the drilling by means of one or more sensors arranged to a feed device, for example.

According to an embodiment, the advance rule of the collaring cycle defines an advance period of time. Then the apparatus is configured to control the drilling unit to advance the drilling of the drill hole in the drilling direction until the defined advance period of time expires. In this embodiment, the final bottom of the collared drill hole is reached by executing several advance drilling time periods. The control device or unit may calculate the time used for the advance drilling step.

According to an embodiment, the advance distance and/or advance period of time is changed between sequences of the advance drilling.

According to an embodiment, the collaring cycle defines a reverse distance or period of time for the reversing step, whereby the apparatus is configured to move the drilling tool in a reverse direction for the defined reverse distance or period of time. Thus, in this embodiment the drilling tool is not necessarily retracted out of the drill hole, but it is instead pulled in the reverse direction only a limited period of time and distance. It may be sufficient to retract the tool only a limited distance backwards and thereafter clean only the previously drilled section of the collared drill hole.

According to an embodiment, the apparatus is configured to indicate state of the collaring phase for the operator and/or one or more control units or servers. The collaring status of several rock drilling rigs operating at the same work site may be then indicated and the operation monitored. One single operator or a limited amount of operators may monitor and control operation of a plurality of rock drilling rigs. The disclosed apparatus may be part of a control room product and/or a fleet management system. In this solution one operator may be in charge of several operable mine machines. Thanks to this embodiment, productivity of the drilling may be increased and drilling rigs provided with the disclosed automated collaring assisting system may be implemented effectively.

According to an embodiment, in the disclosed system several limited advance drilling steps are utilized in the collaring drilling, whereby the final depth of the collaring drilling is an outcome of several limited advance drilling steps. As discussed above, each of the limited advance drilling steps may comprise limited advance distance, limited time period for advance drilling, or the advance drilling steps may be limited by means of any other parameter or control rule. After each advance drilling step the tool extends deeper and finally the desired depth for switching to full power drilling is reached.

According to embodiment of the disclosed collaring method comprises: repeating the execution of the collaring cycle several times until the change in the drilled material is being detected by the control device. Thereby the final depth reached by the collaring drilling is an outcome of several advance distances.

According to an embodiment, the disclosed apparatus terminates the collaring drilling only after execution of several collaring cycles. Thus, the collaring drilling comprises always several collaring cycles, several advance drilling steps and reversing steps. Thereby, the collaring drilling is not drilled using a continuous advance drilling from the mouth of the drill hole to the drill hole bottom.

According to an embodiment, the disclosed apparatus executes at least three collaring cycles per one drill hole. Thus, the advance distance or time is dimensioned to be relatively short and therefore a plurality of advance drilling steps is always needed.

According to an embodiment, the apparatus is configured to execute at least one additional advance drilling step and monitoring phase or step when detection of solid or hard rock material has been generated. The purpose of the additional step is to secure that the detection of the properties of the material was correct.

According to an embodiment, the apparatus is configured to apply reduced drilling power of the drilling unit during the collaring drilling. Straightness, position accuracy and quality of the drilled hole may be improved by using reduced drilling parameters in the control of the collaring drilling.

According to an embodiment, the apparatus is configured to switch to the actual drilling i.e. normal drilling after termination of the collaring cycles. During the actual drilling the apparatus is configured to apply full power drilling and uses normal drilling parameters and control principles in the control.

According to an embodiment, the apparatus is configured to control the entire collaring drilling procedure without manual control. Then the first collaring cycle is initiated at the mouth of the drill hole to be drilled. The apparatus executes all the needed sequences automatically.

According to an embodiment, the collaring drilling is initiated under manual control of an operator of the drilling unit and the disclosed automated collaring cycles are employable at any time. Thus, the operator may switch the apparatus to automatic collaring mode on whenever desired.

According to an embodiment, the apparatus is configured to indicate for the operator the current state of the collaring process. The apparatus may also be arranged to indicate history data and show for the operator the number of the already executed collaring cycles and advance drilling steps, for example.

According to an embodiment, the apparatus is configured to record and indicate for the operator if any abnormal has been detected during the collaring drilling. If the collaring has been failed for some reason, the collared hole may be marked, for example.

According to an embodiment, the disclosed solution is implemented in percussion drilling, which may be top-hammer drilling or DTH-drilling.

According to an embodiment, the disclosed solution is implemented in rotary drilling.

According to an embodiment, the disclosed solution is implemented in surface drilling.

According to an embodiment, the disclosed solution is implemented in underground drilling.

According to an embodiment, the disclosed solution is implemented in drilling of blast drill holes.

According to an embodiment, the disclosed solution is implemented in drilling of production drill holes, which may be in a fan-shaped pattern.

According to an embodiment, the disclosed solution is implemented in drilling of development drill holes, which may be substantially horizontal and are drilled to a face of a tunnel or a corresponding rock space.

According to an embodiment, the disclosed solution is implemented in drilling of reinforcing drill holes for rock bolts and other reinforcing members or material.

The embodiments disclosed above may be implemented in the disclosed apparatus as well as in the disclosed method. Thereby, the embodiments above, and dependent apparatus claims, comprise suitable additional features, which may be used as additional steps and procedures for amending also the independent method claim of this patent application.

The above disclosed embodiments can be combined in order to form suitable solutions provided with necessary features.

BRIEF DESCRIPTION OF THE FIGURES

Some embodiments are described in more detail in the accompanying drawings, in which

FIG. 1 is a schematic side view showing a rock drilling rig for surface work sites and arranged to implement the disclosed collaring cycle,

FIG. 2 is a schematic view showing a rock drilling rig drilling for underground work sites and arranged to implement the disclosed collaring cycle,

FIG. 3 is a schematic diagram showing execution of collaring cycle and several consecutive sequences belonging to the collaring cycle,

FIG. 4 is a schematic control block or diagram showing means for controlling the collaring drilling in accordance with the disclosed system,

FIG. 5 is a schematic control block showing features relating to the disclosed collaring cycle,

FIG. 6 is a schematic diagram showing additional features relating to the disclosed collaring cycle,

FIG. 7 is a schematic diagram showing features relating to determination of the characterized feature of the material being collared,

FIG. 8 is a schematic view of a work site wherein several rock drilling rigs are operating and data is transmitted between the drilling rigs and one or more server, and

FIGS. 9a-9e are schematic views of different steps and phases controlled by the disclosed collaring cycle.

For the sake of clarity, the figures show some embodiments of the disclosed solution in a simplified manner. In the figures, like reference numerals identify like elements.

DETAILED DESCRIPTION OF SOME EMBODIMENTS

FIG. 1 shows a rock drilling rig 1 for vertical surface drilling VD/SF comprising a movable carrier 2, one or more drilling booms 3 and drilling units 4 arranged in the drilling booms 3. The drilling unit 4 comprises a feed beam 5 on which a rock drilling machine 6 can be moved by means of a feed device 7. Further, the drilling unit 4 comprises a drilling tool 8 with which the impact pulses given by the percussion device of the rock drilling machine are transmitted to the rock to be drilled. The rock drilling rig 1 of FIG. 1 is a surface drilling device intended to be used for drilling substantially vertical drill holes serving typically as blast holes. The rock drilling rig 1 further comprises at least one control unit or device CU arranged to control actuators of the rock drilling rig 1, for example. The on-board control device CU may be a computer, processing device or a corresponding device, and it may comprise a user interface with a display device as well as control means for giving commands and information to the control unit. The control device CU may be one computer equipped with appropriate software, or an entity consisting of a plurality of computers. Instead of the on-board control device CU the rock drilling rig may be controlled by means of an external control device ECD or the on-board control device CU and the external control device ECU may communicate together and provide needed control measures.

The control unit CU or ECU may be provided with one or more collaring cycles CC1-CC3 for controlling collaring drilling CD. In the disclosed collaring drilling procedure the collaring drilling comprises several sequences which are repeated as many times it is necessary in order to reach rock material having sufficient material properties allowing initiating normal drilling. Typically reduced drilling parameters are utilized in collaring drilling CD. During collaring drilling monitoring is executed by means of one or more monitoring devices MD1-MD3. The monitoring means MD gather measuring data and may transmit the measuring data to the control device CU for further processing and determining the situation of the drilling procedure. In FIG. 1 a first monitoring device MD1 may be a measuring device for sensing vibrations and stress waves caused by impact pulses and reflecting stress waves. A second monitoring device MD2 may be an acoustic sensor for sensing sound and magnitude of the drilling noise. A third monitoring device MD3 may be a camera or scanner for measuring or sensing particles which have been flushed to the ground from a drill hole 9.

Flushing fluids such as compressed air and pressurized flushing water may be conveyed by means of one or more flushing hose 10 or conduit to the rock drilling machine 6 and further through the drilling tool 8 to the drill hole 9. On the carrier may be one or more compressor 11 and flushing liquid pump 12 for producing needed flushing flows. The flushing may be controlled in accordance with the collaring cycle executed in the control device CU. The flushing may be used for flushing drilling cuttings away from the drill hole 9, and in addition to this, to bind walls of the drill hole by means of the flushing liquid.

FIG. 1 further shows that the drilling unit 4 may comprise one or more measuring devices 13 for determining moving length of the rock drilling machine 6 and the drilling tool 8 during the operating. The produced measuring data may be used when determining lengths of an advance drilling step and reverse drilling step, as well as determining position of the existing drill hole bottom and level position data for controlling magnitude and termination of the flushing. Moreover, FIG. 1 discloses that in connection with the control device CU may be one or more timing devices or timers 14, which may be used for determining time periods for the advance and reverse drilling steps. The timer may also be used for determining a desired delay between successive collaring cycles CC1-CC3.

In FIG. 1 it is also shown feed F generated by the feed device 7, percussions or impacts I generated by the impact device of the rock drilling machine 6 and rotation R generated by means of a rotation device of the rock drilling machine 6. The impacts may or may not be used in collaring, depending on the drilling application.

FIG. 2 illustrates another type of rock drilling rig 1 intended for horizontal underground drilling HD/UG and may be used for drilling horizontal blast holes when developing new rock spaces. Alternatively, or in addition to, the rock drilling rig may be used for vertical underground drilling VD/UG such as drilling production blast holes or holes for reinforcing elements, such as rock bolts. The rock drilling 1 may comprise the same features and means for executing collaring drilling at the beginning of drilling of drill holes 9.

FIG. 3 shows that during collaring drilling collaring cycles are repeated several times. The collaring cycle comprises an advance drilling step ACS and reversing step RS. Transfer drilling TD from the retracted position to the bottom of the drill hole is also indicated in the diagram. Further, the diagram indicates delays D existing after the reversing step RS. When hard or solid rock SR is faced during collaring, the collaring may be terminated. In the disclosed example, repetition of one additional collaring cycle is executed after the hard rock layer has been found in order to secure the defined depth of the hard rock layer HD. Loose or soft rock is indicated by reference LR. Diagram W indicates magnitude of flushing flow during collaring drilling.

FIG. 4 discloses a schematic control block showing means for controlling the collaring drilling in accordance with the disclosed system. The control device CU of the disclosed apparatus comprises at least a processing device 15 for automatically executing the disclosed procedures of collaring drilling. The processing device 15 may execute needed calculations and control measures and may thereby control the needed actuators of the drilling unit such as the feed device, 7, the rotation device 16, the impact device 17 and a flushing control system 18 for controlling the compressor 11 and the flushing liquid pump 12. Control data and parameters may be input to the processing device 15 as individual data elements by means of one or more input means 19 or may be retrieved from one or more memory devices 20. The processing device 15 may comprise a computer program product, which is executed. The computer program may comprise one or more collaring cycles CC and may be recorded on non-transitory computer-readable media including program instructions for implementing various operations executed by a computer. The processing device 15 may also be provided with data or data elements 21 comprising data on collared neighbouring holes and their collaring situations, as well as data or elements 22 comprising pre-stored data on depths of solid or hard material layer at a work site. The operator 23 may also control manually the drilling unit and the related actuators by means of manual control means 24. The processing device may also provide the operator with predetermined drilling aid and may show assisting data and status of the collaring drilling process on a display device 25. Further, the apparatus may comprise one or more output device for storing produced data on the memory device 20 or transmitting the data between the control device CU and another control unit, mining work vehicle, mine control room or server by means of a data communication device 26, which may utilize wireless data transmission means and protocols. Let it be mentioned that the processing device and a control unit of the rock drilling rig may be separate devices or they can be integrated. The control device CU and the processor 15 may be provided with sensing data 27 gathered by means of monitoring devices MD1-MD3. Furthermore, the feed device 7 may be provided with a position measuring device 13, or the position sensing means may be arranged in connection with a feed beam, for example. Position data of a rock drilling machine and a tool connected thereto may be transmitted to the control device CU, which may utilize the received position data during advance drilling step, reversing step and transfer drilling step of the collaring cycle.

A computer program product for implementing the features disclosed in this patent application may be recorded in non-transitory computer-readable media including program instructions to implement various operations embodied by a computer. The media may also include, alone or in combination with the program instructions, data files, data structures, and the like. Examples of computer-readable media or computer-readable storage devices include magnetic media such as hard disks, and optical media such as CR-ROM disks and DVDs, flash memory means, and hardware devices that are configured to store software. The computer-readable media may be a plurality of computer-readable storage devices in a distributed network, so that the program instructions are stored in a plurality of computer-readable storage devices and executed in a distributed fashion. The program instructions may be executed by one or more processors or processing devices.

FIG. 5 discloses some features relating to the disclosed collaring cycle. Further, FIG. 6 discloses some additional features relating to the disclosed collaring cycle. The features and issues relating to these Figures have already been discussed above in this patent application.

FIG. 7 discloses in a simple diagram some features relating to determination of the characterized feature of the material being collared. The characterized feature may be hardness of the drilled material. Alternatively, or in addition to, the characterized feature may relate to fracturing of the drilled material. These issues have been discussed above in this patent application as well as how the characterized feature may be detected.

FIG. 8 illustrates that several rock drilling rigs 1 a-1 c may operate at a same work site and they may all employ the disclosed collaring cycle at the beginning of the drilling. The rock drilling rigs 1 a-1 c may gather data during the collaring drilling and the gathered data may be transmitted between the rock drilling rigs, whereby the data may be shared with them and utilized in the drilling. The data may also be transmitted to one or more server or external control device ECU. On the other hand, the external control device ECU or the server may be provided with data 28 on material layers and depth of a hard rock material. The rock drilling rigs 1 a-1 c may be remotely controlled work machines and may be controlled under control of the external control device ECU, which communicates with the control devices CU of the rock drilling rigs 1 a-1 c. Alternatively, or in addition to, the operation of the rock drilling rigs 1 a-1 c may be remote controlled from a remote control room RCR, which may be a mobile unit such as a van, and may be provided with needed control means. The rock drilling rigs 1 a-1 c may be controlled from the remote control room RCR under control of an operator, or may be controlled automatically and supervised by the operator. Thus, one operator may control several rock drilling rigs working on the same or different work sites.

FIGS. 9a-9e are schematic views of different steps of the disclosed collaring drilling procedure. In FIG. 9a , an advance drilling step ACS has been executed and the drilling tool 8 has been penetrated to untouched material to be drilled. The advance drilling step ACS may have a predetermined length or duration. The advance drilling step ACS generates a new drill hole section. When the advance drilling step has been finished, then the drilling tool 8 is retracted and simultaneously flushing fluid may be sprayed through the drilling tool 8 to the drill hole 9. The drilling tool 8 may comprise suitable conduits 29 for allowing air, water or their mixture to be guided under pressure against walls of the drill hole so that dust and other rock material is being bound and collapsing of the walls may be prevented. The flushing flow may be stopped at a desired distance DI from a mouth 30 of the drill hole 8. Thus, FIG. 9b discloses an example of the reversing step RS. The drilling tool 8 may be reversed only for a desired length backwards, or alternatively, as it is shown in FIG. 9c , the drilling tool 8 may be retracted fully out of the drill hole 9 during the reversing step RS. When the reversing movement has been executed, a delay 31 may follow before initiating a following collaring cycle. In FIG. 9c illustrates that the wall of the drill hole may collapse and material 32 may drop to the bottom of the hole, or the wall may have bulges 33, which may be cleaned during the following steps of the collaring drilling. The drill hole 9 may be cleaned by means of a transfer drilling step TD comprising rotation R and feed F of the drilling tool 8. In some situations it may also be a need to implement percussion operation and provide the drilling tool 8 with impacts I. The transfer drilling step TD, shown in FIG. 9d , moves the drilling tool 9 to the bottom of the drill hole so that a new advance drilling step can be initiated. The new advance drilling performs drilling along the previously collared drill hole. As many collaring cycles as necessary are repeated until drilling material provided with desired properties has been found during the collaring drilling. The drilling process, parameters and measuring data may be monitored during the advance drilling step. In FIG. 9e it is illustrated an example of a collared drill hole 9 wherein four collaring cycles CC1-CC4 are required before the collaring drilling is penetrated through a loose material layer LML and a contact to a solid material layer SML has been reached. Border line B between these material layers LML and SML may be detected by monitoring means. Above the border line B collaring drilling is implemented, and below the border line B normal drilling may be used. Bottom of the collared drilled hole CB is also indicated in FIG. 9 d.

The drawings and the related description are only intended to illustrate the idea of the invention. In its details, the invention may vary within the scope of the claims. 

1. An apparatus for controlling collaring drilling, wherein the collaring drilling includes initiating drilling of a drill hole followed by actual drilling for drilling the drill hole to a final drilling depth, the apparatus comprising at least one control device arranged to control a drilling unit during the collaring drilling by executing at least one collaring cycle in the control device, the collaring cycle including an advance drilling step and a defined advance rule, whereby the apparatus is configured to control the drilling unit to advance the drilling of the drill hole in a drilling direction from a realized depth of the drill hole further to a next depth, the collaring cycle defining a reversing step executed in response to a success of the defined advance rule, whereby the apparatus is configured to terminate the advance drilling and move the drilling tool in a reverse direction, the collaring cycle further including a monitoring feature for controlling the apparatus to receive measuring data from the drilling unit and to monitor characteristics of the drilled material during the advance drilling, and wherein the apparatus is configured to execute several collaring cycles successively at least until a change in the monitored characteristics during the advance drilling is detected, whereby the number of the executed collaring cycles of the drill hole under examination is dependent on the characteristics of the drilled material.
 2. The apparatus as claimed in claim 1, wherein the apparatus is configured to detect initial depth position of the collaring drilling corresponding to an opening of the drill hole being drilled, and further detect a greatest depth of the drill hole corresponding a bottom of the drill hole, the apparatus being configured to reverse the drilling tool during the reversing step of the collaring cycle out of the drill hole, whereby the reversing step defines the reversing movement from the bottom of the drill hole at least to the opening of the drill hole.
 3. The apparatus as claimed in claim 1, wherein the apparatus is configured to control the drilling unit to direct flushing flow through a drilling tool to the drill hole during the collaring cycle, the apparatus being configured to increase magnitude of the flushing flow in response to an increase of the drilling depth, whereby the flushing flow is greater during every following collaring cycle compared to the previous collaring cycles.
 4. The apparatus as claimed in claim 2, wherein the apparatus is configured to terminate the flushing flow during the reversing step of the collaring cycle at a distance from the opening of the drill hole, whereby the flushing flow is terminated before a drilling tool is pulled out of the drill hole.
 5. The apparatus as claimed in claim 1, wherein the apparatus is configured to control the drilling unit to direct liquid flow through a drilling tool to the drill hole during the reversing step of the collaring cycle.
 6. The apparatus as claimed in claim 1, wherein the apparatus is configured to delay the execution of the succeeding collaring cycles.
 7. The apparatus as claimed in claim 6, wherein the apparatus is configured to delay the execution of the succeeding collaring cycles for a duration of a determined delay time.
 8. The apparatus as claimed in claim 1, wherein the apparatus is provided with reference data defining at least one limit value for determining difference in hardness of loose drilled material and solid drilled material, the apparatus being configured to control collaring drilling through a loose material layer towards a solid material layer, detect change in drilling characteristics by means of the comparison of the measuring data and the limit value when reaching the solid material layer during the advance drilling, and to determine depth position of the solid material layer on the basis of the detected change in drilling characteristics at a borderline between the loose material layer and the solid material layer.
 9. The apparatus as claimed in claim 8, wherein the apparatus is provided with data on depth of solid material layer of at least one drill hole being located at proximity of the drill hole under examination, the apparatus being configured to determine depth of solid material layer of the drill hole under examination on the basis of the determined characteristics of the material, and to compare the determined depth of the solid material layer of the drill hole under examination to the depth of the solid material of the at least one neighboring drill hole in order to improve accuracy of the determination of the depth position of the solid material layer.
 10. The apparatus as claimed in claim 8, wherein the apparatus is provided with data on thickness of the loose material layer and based on that is configured to estimate depth position of a borderline between the loose and solid material layer, the apparatus being configured to compare the determined depth position to the estimate depth position in order to improve accuracy of the determination of the depth position of the solid material layer.
 11. The apparatus as claimed in claim 1, wherein the apparatus is provided with data on feed resistance of the feed device of the drilling unit during advance drilling of the collaring cycle, the apparatus being configured to compare the data with at least one limit value for the feed resistance for detecting hardness of the drilled material.
 12. The apparatus as claimed in claim 11, wherein the apparatus is provided with pressure data on the pressure fluid operated feed device of the drilling unit, the limit value includes a threshold pressure, whereby exceeding the threshold pressure indicates change in characteristics of the drilled material.
 13. The apparatus as claimed in claim 1, wherein the apparatus is provided with data on stress waves propagating in a drilling tool of the drilling unit, which is provided with an impact device for generating stress waves to the drilling tool and the stress waves reflecting back from the drilled material towards the rock drilling machine in accordance with the hardness of the drilled material, the apparatus being configured to compare the data with at least one limit value for the magnitude of the reflecting stress waves for detecting characteristics of the drilled material.
 14. The apparatus as claimed in claim 1, wherein the apparatus is configured to control the drilling unit to execute transfer drilling of the drilling tool from a reversed drill hole depth position to the realized drill hole bottom reached in the previous collaring cycle before initiating advance drilling of the following collaring cycle, the apparatus being configured to connect the rock drilling machine on during the transfer drilling.
 15. The apparatus as claimed in claim 1, wherein the advance rule of the collaring cycle defines an advance distance, whereby the apparatus is configured to control the drilling unit to advance the drilling of the drill hole in the drilling direction further for the length of the defined advance distance.
 16. The apparatus as claimed in claim 1, wherein the advance rule of the collaring cycle defines an advance period of time, whereby the apparatus is configured to control the drilling unit to advance the drilling of the drill hole in the drilling direction until the defined advance period of time expires.
 17. The apparatus as claimed in claim 1, wherein the collaring cycle defines a reverse distance or period of time for the reversing step, whereby the apparatus is configured to move the drilling tool in a reverse direction for the defined reverse distance or period of time.
 18. A rock drilling rig, comprising a movable carrier; at least one drilling boom provided with at least one drilling unit including a rock drilling machine and a feed device for moving the rock drilling machine; and at least one apparatus for controlling drilling, wherein the collaring drilling includes initiating drilling of a drill hole followed by actual drilling for drilling the drill hole to a final drilling depth, the apparatus including at least one control device arranged to control a drilling unit during the collaring drilling by executing at least one collaring cycle in the control device, the collaring cycle including an advance drilling step and a defined advance rule, whereby the apparatus is configured to control the drilling unit to advance the drilling of the drill hole in a drilling direction from a realized depth of the drill hole further to a next depth, the collaring cycle defining a reversing step executed in response to a success of the defined advance rule, whereby the apparatus is configured to terminate the advance drilling and move the drilling tool in a reverse direction, the collaring cycle further including a monitoring feature for controlling the apparatus to receive measuring data from the drilling unit and to monitor characteristics of the drilled material during the advance drilling, and wherein the apparatus is configured to execute several collaring cycles successively at least until a change in the monitored characteristics during the advance drilling is detected, whereby the number of the executed collaring cycles of the drill hole under examination is dependent on the characteristics of the drilled material.
 19. A method for collaring drilling, wherein drilling of a drill hole is initiated by a drilling unit including a rock drilling machine movable by a feed device and being provided with a drilling tool, the method comprising the steps of: controlling the drilling unit with at least one control device; providing the control unit with at least one collaring cycle; executing the collaring cycle in the control device for controlling the collaring drilling; drilling in a drilling direction a predetermined limited advance distance or limited period of time defined in the collaring cycle and monitoring simultaneously the drilling; stopping the advance drilling when the limited advance distance is reached or the limited period of time is expired and moving the drilling tool in a reverse direction; detecting change in the drilled material on the basis of the monitored data; and executing several collaring cycles one after each other until the change in the drilled material is being detected by the control device and final depth of the collaring drilling is reached.
 20. A computer program product comprising program code means configured to execute the steps and procedures of claim 20 when being run on a computer or a data processing device. 